Merge branch 'stationChange'

Junjie

23 小时以前 ef776e9fd5e4f64e4ad09a3faa12fb7bb646c79c

 src/test/java/com/zy/core/utils/StationOperateProcessUtilsReroutePipelineTest.java

@@ -1,12 +1,996 @@
package com.zy.core.utils;

import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.BasStationOptService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.WrkAnalysisService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.move.StationMoveCoordinator;
import com.zy.core.move.StationMoveDispatchMode;
import com.zy.core.move.StationMoveSession;
import com.zy.core.dispatch.StationCommandDispatchResult;
import com.zy.core.dispatch.StationCommandDispatcher;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.thread.StationThread;
import com.zy.common.utils.RedisUtil;
import com.zy.core.utils.station.StationDispatchLoadSupport;
import com.zy.core.utils.station.StationDispatchRuntimeStateSupport;
import com.zy.core.utils.station.StationOutboundDecisionSupport;
import com.zy.core.utils.station.StationOutboundDispatchProcessor;
import com.zy.core.utils.station.StationRegularDispatchProcessor;
import com.zy.core.utils.station.StationRerouteProcessor;
import com.zy.core.utils.station.model.DispatchLimitConfig;
import com.zy.core.utils.station.model.LoadGuardState;
import com.zy.core.utils.station.model.LoopHitResult;
import com.zy.core.utils.station.model.RerouteCommandPlan;
import com.zy.core.utils.station.model.RerouteContext;
import com.zy.core.utils.station.model.RerouteDecision;
import com.zy.core.utils.station.model.RerouteExecutionResult;
import com.zy.core.utils.station.model.RerouteSceneType;
import org.junit.jupiter.api.Test;
import org.springframework.test.util.ReflectionTestUtils;

import java.util.Date;
import java.util.Collections;
import java.util.HashMap;
import java.util.IdentityHashMap;
import java.util.List;
import java.util.Map;
import java.util.Objects;

import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertSame;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.mockito.ArgumentMatchers.any;
import static org.mockito.ArgumentMatchers.anyString;
import static org.mockito.ArgumentMatchers.eq;
import static org.mockito.ArgumentMatchers.same;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.inOrder;
import static org.mockito.Mockito.times;
import static org.mockito.Mockito.never;
import static org.mockito.Mockito.verify;
import static org.mockito.Mockito.when;

class StationOperateProcessUtilsReroutePipelineTest {
    private final Map<StationOperateProcessUtils, Map<String, Object>> dependencyOverrides = new IdentityHashMap<>();

    private StationOperateProcessUtils newUtils() {
        StationOperateProcessUtils utils = new StationOperateProcessUtils();
        stash(utils, "stationOutboundDecisionSupport", new StationOutboundDecisionSupport());
        wireRerouteProcessor(utils);
        return utils;
    }

    private void wireOutboundSupport(StationOperateProcessUtils utils) {
        StationOutboundDecisionSupport support = new StationOutboundDecisionSupport();
        copyIfPresent(utils, support, "wrkMastService");
        copyIfPresent(utils, support, "basDevpService");
        copyIfPresent(utils, support, "basStationService");
        copyIfPresent(utils, support, "navigateUtils");
        copyIfPresent(utils, support, "redisUtil");
        copyIfPresent(utils, support, "stationTaskLoopService");
        copyIfPresent(utils, support, "stationMoveCoordinator");
        StationDispatchRuntimeStateSupport runtimeStateSupport = new StationDispatchRuntimeStateSupport();
        copyIfPresent(utils, runtimeStateSupport, "redisUtil");
        copyIfPresent(utils, runtimeStateSupport, "basStationOptService");
        ReflectionTestUtils.setField(support, "stationDispatchRuntimeStateSupport", runtimeStateSupport);
        stash(utils, "stationOutboundDecisionSupport", support);
    }

    private void wireRerouteProcessor(StationOperateProcessUtils utils) {
        StationRerouteProcessor processor = new StationRerouteProcessor();
        copyIfPresent(utils, processor, "basDevpService");
        copyIfPresent(utils, processor, "wrkMastService");
        copyIfPresent(utils, processor, "commonService");
        copyIfPresent(utils, processor, "redisUtil");
        copyIfPresent(utils, processor, "locMastService");
        copyIfPresent(utils, processor, "wmsOperateUtils");
        copyIfPresent(utils, processor, "basStationOptService");
        copyIfPresent(utils, processor, "stationMoveCoordinator");
        Object dispatcher = readIfPresent(utils, "stationCommandDispatcher");
        if (dispatcher == null) {
            dispatcher = new StationCommandDispatcher(
                    (RedisUtil) readIfPresent(utils, "redisUtil"),
                    (StationMoveCoordinator) readIfPresent(utils, "stationMoveCoordinator")
            );
        }
        ReflectionTestUtils.setField(processor, "stationCommandDispatcher", dispatcher);
        Object outboundSupport = readIfPresent(utils, "stationOutboundDecisionSupport");
        if (outboundSupport == null) {
            wireOutboundSupport(utils);
            outboundSupport = readIfPresent(utils, "stationOutboundDecisionSupport");
        }
        if (outboundSupport != null) {
            ReflectionTestUtils.setField(processor, "stationOutboundDecisionSupport", outboundSupport);
        }
        StationDispatchRuntimeStateSupport runtimeStateSupport = new StationDispatchRuntimeStateSupport();
        copyIfPresent(utils, runtimeStateSupport, "redisUtil");
        copyIfPresent(utils, runtimeStateSupport, "basStationOptService");
        ReflectionTestUtils.setField(processor, "stationDispatchRuntimeStateSupport", runtimeStateSupport);
        ReflectionTestUtils.setField(utils, "stationRerouteProcessor", processor);
    }

    private void stash(StationOperateProcessUtils utils, String fieldName, Object value) {
        dependencyOverrides.computeIfAbsent(utils, key -> new HashMap<>()).put(fieldName, value);
    }

    private Object readIfPresent(Object source, String fieldName) {
        try {
            return ReflectionTestUtils.getField(source, fieldName);
        } catch (IllegalArgumentException ignore) {
            if (source instanceof StationOperateProcessUtils) {
                Map<String, Object> values = dependencyOverrides.get(source);
                return values == null ? null : values.get(fieldName);
            }
            return null;
        }
    }

    private void copyIfPresent(Object source, Object target, String fieldName) {
        Object value = readIfPresent(source, fieldName);
        if (value != null) {
            try {
                ReflectionTestUtils.setField(target, fieldName, value);
            } catch (IllegalArgumentException ignore) {
            }
        }
    }

    @SuppressWarnings("unchecked")
    private void stubTaskDispatchLock(StationMoveCoordinator coordinator) {
        when(coordinator.withTaskDispatchLock(any(), any())).thenAnswer(invocation -> {
            java.util.function.Supplier<Object> supplier = invocation.getArgument(1);
            return supplier == null ? null : supplier.get();
        });
    }

    @Test
    void choosesRunBlockCommandBuilderForRunBlockRerouteScene() {
        StationOperateProcessUtils.RerouteSceneType scene =
                StationOperateProcessUtils.RerouteSceneType.RUN_BLOCK_REROUTE;
        RerouteSceneType scene = RerouteSceneType.RUN_BLOCK_REROUTE;

        assertSame(RerouteSceneType.RUN_BLOCK_REROUTE, scene);
    }

    @Test
    void resolveExecutionTarget_skipsWhenTargetEqualsCurrentStation() {
        RerouteDecision decision = RerouteDecision.skip("same-station");

        assertTrue(decision.skip());
        assertEquals("same-station", decision.skipReason());
    }

    @Test
    void buildCommandPlan_usesRunBlockCommandBuilderForRunBlockScene() {
        StationOperateProcessUtils utils = newUtils();
        StationThread stationThread = mock(StationThread.class);
        StationCommand command = new StationCommand();
        command.setTaskNo(100);
        command.setStationId(10);
        command.setTargetStaNo(20);
        when(stationThread.getRunBlockRerouteCommand(100, 10, 20, 0, 0.25d)).thenReturn(command);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.RUN_BLOCK_REROUTE,
                buildBasDevp(1),
                stationThread,
                buildStationProtocol(10, 100, 10),
                buildWrkMast(100, 99),
                Collections.emptyList(),
                0.25d,
                "checkStationRunBlock_reroute"
        ).withRunBlockCommand()
                .withCancelSessionBeforeDispatch()
                .withResetSegmentCommandsBeforeDispatch();

        RerouteCommandPlan plan = utils.buildRerouteCommandPlan(
                context,
                RerouteDecision.proceed(20)
        );

        verify(stationThread).getRunBlockRerouteCommand(100, 10, 20, 0, 0.25d);
        assertSame(command, plan.command());
    }

    @Test
    void executePlan_skipsWhenCurrentTaskStillExistsInBuffer() {
        StationOperateProcessUtils utils = newUtils();
        StationCommand command = new StationCommand();
        command.setTaskNo(100);
        command.setStationId(10);
        command.setTargetStaNo(20);

        StationTaskBufferItem bufferItem = new StationTaskBufferItem();
        bufferItem.setTaskNo(100);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.OUT_ORDER,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(10, 100, 10, Collections.singletonList(bufferItem)),
                buildWrkMast(100, 20),
                List.of(10, 20),
                0.0d,
                "checkStationOutOrder"
        );

        RerouteExecutionResult result = utils.executeReroutePlan(
                context,
                RerouteCommandPlan.dispatch(
                        command,
                        RerouteDecision.proceed(20),
                        "checkStationOutOrder"
                )
        );

        assertTrue(result.skipped());
        assertEquals("buffer-has-current-task", result.skipReason());
    }

    @Test
    void outOrderAndWatchCircle_shareDecisionFlow() {
        StationOperateProcessUtils utils = newUtils();
        WrkMast wrkMast = buildWrkMast(100, 20);

        RerouteContext outOrderContext = RerouteContext.create(
                RerouteSceneType.OUT_ORDER,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(10, 100, 10),
                wrkMast,
                Collections.emptyList(),
                0.0d,
                "checkStationOutOrder"
        );
        RerouteContext watchCircleContext = RerouteContext.create(
                RerouteSceneType.WATCH_CIRCLE,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(10, 100, 10),
                wrkMast,
                Collections.emptyList(),
                0.0d,
                "watchCircleStation"
        );

        RerouteDecision outOrderDecision = utils.resolveSharedRerouteDecision(outOrderContext);
        RerouteDecision watchCircleDecision = utils.resolveSharedRerouteDecision(watchCircleContext);

        assertEquals(20, outOrderDecision.targetStationId());
        assertEquals(20, watchCircleDecision.targetStationId());
    }

    @Test
    void runBlockReroute_keepsDirectReassignAndNormalRerouteSeparate() {
        StationOperateProcessUtils utils = newUtils();
        WrkMast inboundWrkMast = buildWrkMast(100, 20);
        inboundWrkMast.setIoType(WrkIoType.IN.id);

        assertTrue(utils.shouldUseRunBlockDirectReassign(inboundWrkMast, 10, List.of(10)));
        assertTrue(!utils.shouldUseRunBlockDirectReassign(inboundWrkMast, 11, List.of(10)));
    }

    @Test
    void idleRecover_skipsWhenLastDispatchIsTooRecent() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationMoveSession session = new StationMoveSession();
        session.setStatus(StationMoveSession.STATUS_RUNNING);
        session.setCurrentStationId(10);
        session.setDispatchStationId(10);
        session.setLastIssuedAt(System.currentTimeMillis());
        when(coordinator.loadSession(100)).thenReturn(session);

        StationCommand command = new StationCommand();
        command.setTaskNo(100);
        command.setStationId(10);
        command.setTargetStaNo(20);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.IDLE_RECOVER,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(10, 100, 10),
                buildWrkMast(100, 20),
                Collections.emptyList(),
                0.0d,
                "checkStationIdleRecover"
        ).withRecentDispatchGuard();

        RerouteExecutionResult result = utils.executeReroutePlan(
                context,
                RerouteCommandPlan.dispatch(
                        command,
                        RerouteDecision.proceed(20),
                        "checkStationIdleRecover"
                )
        );

        assertTrue(result.skipped());
        assertEquals("recent-dispatch", result.skipReason());
        verify(coordinator, never()).cancelSession(100);
    }

    @Test
    void idleRecover_skipsWhenCurrentStationIsStillInsideRecentlyIssuedActiveRoute() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationMoveSession session = new StationMoveSession();
        session.setStatus(StationMoveSession.STATUS_RUNNING);
        session.setDispatchStationId(196);
        session.setCurrentStationId(189);
        session.setFullPathStationIds(List.of(196, 195, 189, 121, 124));
        session.setLastIssuedAt(System.currentTimeMillis());
        when(coordinator.loadSession(10510)).thenReturn(session);

        StationCommand command = new StationCommand();
        command.setTaskNo(10510);
        command.setStationId(121);
        command.setTargetStaNo(124);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.IDLE_RECOVER,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(121, 10510, 121),
                buildWrkMast(10510, 124),
                Collections.emptyList(),
                0.0d,
                "checkStationIdleRecover"
        ).withRecentDispatchGuard();

        RerouteExecutionResult result = utils.executeReroutePlan(
                context,
                RerouteCommandPlan.dispatch(
                        command,
                        RerouteDecision.proceed(124),
                        "checkStationIdleRecover"
                )
        );

        assertTrue(result.skipped());
        assertEquals("recent-dispatch", result.skipReason());
        verify(coordinator, never()).cancelSession(10510);
    }

    @Test
    void idleRecover_skipsWhenStationCommandLogShowsRecentIssuedMove() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        BasStationOptService basStationOptService = mock(BasStationOptService.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "basStationOptService", basStationOptService);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationMoveSession session = new StationMoveSession();
        session.setStatus(StationMoveSession.STATUS_RUNNING);
        session.setDispatchStationId(136);
        session.setCurrentStationId(145);
        session.setFullPathStationIds(List.of(136, 137, 139, 142, 143, 145, 148, 149, 151));
        session.setLastIssuedAt(System.currentTimeMillis() - 20_000L);
        when(coordinator.loadSession(10493)).thenReturn(session);

        BasStationOpt recentOpt = new BasStationOpt();
        recentOpt.setTaskNo(10493);
        recentOpt.setStationId(148);
        recentOpt.setSend(1);
        recentOpt.setMode(String.valueOf(com.zy.core.enums.StationCommandType.MOVE));
        recentOpt.setSendTime(new Date());
        when(basStationOptService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(recentOpt));

        Boolean skipped = ReflectionTestUtils.invokeMethod(utils,
                "shouldSkipIdleRecoverForRecentDispatch",
                10493,
                148);

        assertTrue(Boolean.TRUE.equals(skipped));
    }

    @Test
    void checkStationOutOrder_skipsWhenActiveSessionAlreadyOwnsCurrentStation() {
        StationOperateProcessUtils utils = newUtils();
        BasDevpService basDevpService = mock(BasDevpService.class);
        WrkMastService wrkMastService = mock(WrkMastService.class);
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        StationThread stationThread = mock(StationThread.class);
        stubTaskDispatchLock(coordinator);

        stash(utils, "basDevpService", basDevpService);
        ReflectionTestUtils.setField(utils, "wrkMastService", wrkMastService);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireOutboundSupport(utils);
        wireRerouteProcessor(utils);

        BasDevp basDevp = buildBasDevp(1);
        basDevp.setIsOutOrderList("[{\"deviceNo\":1,\"stationId\":145}]");
        when(basDevpService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(basDevp));

        StationProtocol stationProtocol = buildStationProtocol(145, 10337, 145);
        stationProtocol.setAutoing(true);
        stationProtocol.setLoading(true);
        when(stationThread.getStatusMap()).thenReturn(Map.of(145, stationProtocol));

        StationCommand command = new StationCommand();
        command.setTaskNo(10337);
        command.setStationId(145);
        command.setTargetStaNo(111);
        when(stationThread.getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d)))
                .thenReturn(command);

        WrkMast wrkMast = buildWrkMast(10337, 111);
        wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
        wrkMast.setIoType(WrkIoType.OUT.id);
        when(wrkMastService.selectByWorkNo(10337)).thenReturn(wrkMast);

        StationMoveSession session = new StationMoveSession();
        session.setTaskNo(10337);
        session.setStatus(StationMoveSession.STATUS_RUNNING);
        session.setDispatchMode(StationMoveDispatchMode.CIRCLE);
        session.setCurrentStationId(145);
        session.setCurrentRouteTargetStationId(148);
        session.setNextDecisionStationId(148);
        session.setFullPathStationIds(List.of(145, 148, 149, 151, 119, 118, 117, 115, 114, 111));
        when(coordinator.loadSession(10337)).thenReturn(session);

        when(redisUtil.get(anyString())).thenReturn(null);

        MessageQueue.init(SlaveType.Devp, 1);
        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.checkStationOutOrder();

            assertNull(MessageQueue.peek(SlaveType.Devp, 1));
            verify(stationThread, never()).getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d));
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    @Test
    void checkStationOutOrder_restartsWhenBlockedSessionExistsButStationNoLongerRunBlock() {
        StationOperateProcessUtils utils = newUtils();
        BasDevpService basDevpService = mock(BasDevpService.class);
        WrkMastService wrkMastService = mock(WrkMastService.class);
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        StationThread stationThread = mock(StationThread.class);
        stubTaskDispatchLock(coordinator);

        stash(utils, "basDevpService", basDevpService);
        ReflectionTestUtils.setField(utils, "wrkMastService", wrkMastService);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireOutboundSupport(utils);
        wireRerouteProcessor(utils);

        BasDevp basDevp = buildBasDevp(1);
        basDevp.setIsOutOrderList("[{\"deviceNo\":1,\"stationId\":145}]");
        when(basDevpService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(basDevp));

        StationProtocol stationProtocol = buildStationProtocol(145, 10337, 145);
        stationProtocol.setAutoing(true);
        stationProtocol.setLoading(true);
        stationProtocol.setRunBlock(false);
        when(stationThread.getStatusMap()).thenReturn(Map.of(145, stationProtocol));

        StationCommand command = new StationCommand();
        command.setTaskNo(10337);
        command.setStationId(145);
        command.setTargetStaNo(111);
        when(stationThread.getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d)))
                .thenReturn(command);

        WrkMast wrkMast = buildWrkMast(10337, 111);
        wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
        wrkMast.setIoType(WrkIoType.OUT.id);
        when(wrkMastService.selectByWorkNo(10337)).thenReturn(wrkMast);

        StationMoveSession session = new StationMoveSession();
        session.setTaskNo(10337);
        session.setStatus(StationMoveSession.STATUS_BLOCKED);
        session.setDispatchMode(StationMoveDispatchMode.CIRCLE);
        session.setCurrentStationId(145);
        session.setCurrentRouteTargetStationId(148);
        session.setNextDecisionStationId(148);
        session.setFullPathStationIds(List.of(145, 148, 149, 151, 119, 118, 117, 115, 114, 111));
        when(coordinator.loadSession(10337)).thenReturn(session);

        when(redisUtil.get(anyString())).thenReturn(null);

        MessageQueue.init(SlaveType.Devp, 1);
        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.checkStationOutOrder();

            assertTrue(MessageQueue.peek(SlaveType.Devp, 1) != null);
            verify(stationThread, times(1)).getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d));
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    @Test
    void checkStationOutOrder_skipsRunBlockStationBeforePlanning() {
        StationOperateProcessUtils utils = newUtils();
        BasDevpService basDevpService = mock(BasDevpService.class);
        WrkMastService wrkMastService = mock(WrkMastService.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        StationThread stationThread = mock(StationThread.class);

        stash(utils, "basDevpService", basDevpService);
        ReflectionTestUtils.setField(utils, "wrkMastService", wrkMastService);
        stash(utils, "redisUtil", redisUtil);
        wireOutboundSupport(utils);
        wireRerouteProcessor(utils);

        BasDevp basDevp = buildBasDevp(1);
        basDevp.setIsOutOrderList("[{\"deviceNo\":1,\"stationId\":145}]");
        when(basDevpService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(basDevp));

        StationProtocol stationProtocol = buildStationProtocol(145, 10337, 145);
        stationProtocol.setAutoing(true);
        stationProtocol.setLoading(true);
        stationProtocol.setRunBlock(true);
        when(stationThread.getStatusMap()).thenReturn(Map.of(145, stationProtocol));

        StationCommand command = new StationCommand();
        command.setTaskNo(10337);
        command.setStationId(145);
        command.setTargetStaNo(111);
        when(stationThread.getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d)))
                .thenReturn(command);

        WrkMast wrkMast = buildWrkMast(10337, 111);
        wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
        wrkMast.setIoType(WrkIoType.OUT.id);
        when(wrkMastService.selectByWorkNo(10337)).thenReturn(wrkMast);

        when(redisUtil.get(anyString())).thenReturn(null);

        MessageQueue.init(SlaveType.Devp, 1);
        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.checkStationOutOrder();

            assertNull(MessageQueue.peek(SlaveType.Devp, 1));
            verify(stationThread, never()).getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d));
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    @Test
    void executePlan_runBlockReroute_reissuesWhenBlockedSessionMatchesCandidatePath() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationCommand command = new StationCommand();
        command.setTaskNo(100);
        command.setStationId(145);
        command.setTargetStaNo(111);
        command.setNavigatePath(List.of(145, 113, 112, 111));
        command.setOriginalNavigatePath(List.of(145, 113, 112, 111));

        StationMoveSession session = new StationMoveSession();
        session.setTaskNo(100);
        session.setStatus(StationMoveSession.STATUS_BLOCKED);
        session.setCurrentStationId(145);
        session.setDispatchStationId(145);
        session.setPathSignature("same-path");
        when(coordinator.loadSession(100)).thenReturn(session);
        when(coordinator.buildPathSignature(command)).thenReturn("same-path");

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.RUN_BLOCK_REROUTE,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(145, 100, 145),
                buildWrkMast(100, 111),
                Collections.emptyList(),
                0.0d,
                "checkStationRunBlock_reroute"
        ).withCancelSessionBeforeDispatch()
                .withResetSegmentCommandsBeforeDispatch();

        MessageQueue.init(SlaveType.Devp, 1);
        try {
            RerouteExecutionResult result = utils.executeReroutePlan(
                    context,
                    RerouteCommandPlan.dispatch(
                            command,
                            RerouteDecision.proceed(111),
                            "checkStationRunBlock_reroute"
                    )
            );

            assertTrue(!result.skipped());
            org.mockito.InOrder inOrder = inOrder(coordinator);
            inOrder.verify(coordinator).markCancelPending(100, "reroute_pending");
            inOrder.verify(coordinator).cancelSession(100);
            verify(coordinator, times(1)).cancelSession(100);
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
        }
    }

    @Test
    void executePlan_runBlockReroute_ignoresCurrentTaskBufferAfterReset() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationCommand command = new StationCommand();
        command.setTaskNo(10388);
        command.setStationId(186);
        command.setTargetStaNo(124);
        command.setNavigatePath(List.of(186, 189, 121, 124));
        command.setOriginalNavigatePath(List.of(186, 189, 121, 124));

        StationTaskBufferItem bufferItem = new StationTaskBufferItem();
        bufferItem.setTaskNo(10388);

        when(redisUtil.get(anyString())).thenReturn(null);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.RUN_BLOCK_REROUTE,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(186, 10388, 189, Collections.singletonList(bufferItem)),
                buildWrkMast(10388, 124),
                Collections.emptyList(),
                0.0d,
                "checkStationRunBlock_reroute"
        ).withCancelSessionBeforeDispatch()
                .withResetSegmentCommandsBeforeDispatch();

        MessageQueue.init(SlaveType.Devp, 1);
        try {
            RerouteExecutionResult result = utils.executeReroutePlan(
                    context,
                    RerouteCommandPlan.dispatch(
                            command,
                            RerouteDecision.proceed(124),
                            "checkStationRunBlock_reroute"
                    )
            );

            assertTrue(!result.skipped());
            verify(coordinator, times(1)).cancelSession(10388);
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
        }
    }

    @Test
    void executePlan_runBlockReroute_bypassesSuppressDispatchAfterReset() {
        StationOperateProcessUtils utils = newUtils();
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        stubTaskDispatchLock(coordinator);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireRerouteProcessor(utils);

        StationCommand command = new StationCommand();
        command.setTaskNo(10388);
        command.setStationId(186);
        command.setTargetStaNo(124);
        command.setNavigatePath(List.of(186, 124));
        command.setOriginalNavigatePath(List.of(186, 124));

        when(redisUtil.get(anyString())).thenReturn(null);
        when(coordinator.shouldSuppressDispatch(10388, 186, command)).thenReturn(true);

        RerouteContext context = RerouteContext.create(
                RerouteSceneType.RUN_BLOCK_REROUTE,
                buildBasDevp(1),
                mock(StationThread.class),
                buildStationProtocol(186, 10388, 186),
                buildWrkMast(10388, 124),
                Collections.emptyList(),
                0.0d,
                "checkStationRunBlock_reroute"
        ).withSuppressDispatchGuard()
                .withCancelSessionBeforeDispatch()
                .withResetSegmentCommandsBeforeDispatch();

        MessageQueue.init(SlaveType.Devp, 1);
        try {
            RerouteExecutionResult result = utils.executeReroutePlan(
                    context,
                    RerouteCommandPlan.dispatch(
                            command,
                            RerouteDecision.proceed(124),
                            "checkStationRunBlock_reroute"
                    )
            );

            assertTrue(!result.skipped());
            verify(coordinator, times(1)).cancelSession(10388);
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
        }
    }

    @Test
    void stationInExecute_recordsDispatchSessionAfterIssuingMoveCommand() {
        StationOperateProcessUtils utils = newUtils();
        BasDevpService basDevpService = mock(BasDevpService.class);
        WrkMastService wrkMastService = mock(WrkMastService.class);
        CommonService commonService = mock(CommonService.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        WrkAnalysisService wrkAnalysisService = mock(WrkAnalysisService.class);
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        StationCommandDispatcher dispatcher = mock(StationCommandDispatcher.class);
        StationDispatchLoadSupport loadSupport = mock(StationDispatchLoadSupport.class);
        StationThread stationThread = mock(StationThread.class);
        stubTaskDispatchLock(coordinator);

        StationRegularDispatchProcessor processor = new StationRegularDispatchProcessor();
        ReflectionTestUtils.setField(processor, "basDevpService", basDevpService);
        ReflectionTestUtils.setField(processor, "wrkMastService", wrkMastService);
        ReflectionTestUtils.setField(processor, "commonService", commonService);
        ReflectionTestUtils.setField(processor, "redisUtil", redisUtil);
        ReflectionTestUtils.setField(processor, "wrkAnalysisService", wrkAnalysisService);
        ReflectionTestUtils.setField(processor, "stationMoveCoordinator", coordinator);
        ReflectionTestUtils.setField(processor, "stationCommandDispatcher", dispatcher);
        ReflectionTestUtils.setField(processor, "stationDispatchLoadSupport", loadSupport);
        ReflectionTestUtils.setField(utils, "stationRegularDispatchProcessor", processor);

        BasDevp basDevp = buildBasDevp(1);
        basDevp.setBarcodeStationList("[{\"deviceNo\":1,\"stationId\":101}]");
        when(basDevpService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(basDevp));

        StationProtocol stationProtocol = buildStationProtocol(101, 500670, 101);
        stationProtocol.setAutoing(true);
        stationProtocol.setLoading(true);
        stationProtocol.setBarcode("GSL110005");
        when(stationThread.getStatusMap()).thenReturn(Map.of(101, stationProtocol));
        when(stationThread.getStatus()).thenReturn(Collections.singletonList(stationProtocol));

        WrkMast wrkMast = buildWrkMast(500670, 102);
        wrkMast.setWrkSts(WrkStsType.NEW_INBOUND.sts);
        wrkMast.setLocNo("8-4-1");
        when(wrkMastService.getOne(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class))).thenReturn(wrkMast);
        when(wrkMastService.updateById(wrkMast)).thenReturn(true);

        FindCrnNoResult findCrnNoResult = new FindCrnNoResult();
        findCrnNoResult.setCrnNo(4);
        findCrnNoResult.setCrnType(SlaveType.Crn);
        when(commonService.findCrnNoByLocNo("8-4-1")).thenReturn(findCrnNoResult);
        when(commonService.findInStationId(findCrnNoResult, 101)).thenReturn(102);

        StationCommand command = new StationCommand();
        command.setTaskNo(500670);
        command.setStationId(101);
        command.setTargetStaNo(102);
        when(stationThread.getCommand(com.zy.core.enums.StationCommandType.MOVE, 500670, 101, 102, 0))
                .thenReturn(command);
        when(redisUtil.get(anyString())).thenReturn(null);
        when(dispatcher.dispatch(1, command, "station-operate-process", "stationInExecute"))
                .thenReturn(StationCommandDispatchResult.accepted("accepted", 1, "station-operate-process", "stationInExecute"));

        DispatchLimitConfig baseConfig = new DispatchLimitConfig();
        LoadGuardState loadGuardState = new LoadGuardState();
        LoopHitResult noHit = LoopHitResult.noHit();
        when(loadSupport.getDispatchLimitConfig(null, null)).thenReturn(baseConfig);
        when(loadSupport.countCurrentStationTask()).thenReturn(0);
        when(loadSupport.buildLoadGuardState(baseConfig)).thenReturn(loadGuardState);
        when(loadSupport.getDispatchLimitConfig(101, 102)).thenReturn(baseConfig);
        when(loadSupport.findPathLoopHit(baseConfig, 101, 102, loadGuardState)).thenReturn(noHit);
        when(loadSupport.isDispatchBlocked(baseConfig, 0, loadGuardState, false)).thenReturn(false);

        MessageQueue.init(SlaveType.Devp, 1);
        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.stationInExecute();

            verify(coordinator, times(1)).recordDispatch(eq(500670), eq(101), eq("stationInExecute"), same(command), eq(false));
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    @Test
    void dualCrnStationOutExecute_delegatesToOutboundProcessor() {
        StationOperateProcessUtils utils = newUtils();
        StationOutboundDispatchProcessor processor = mock(StationOutboundDispatchProcessor.class);
        ReflectionTestUtils.setField(utils, "stationOutboundDispatchProcessor", processor);

        utils.dualCrnStationOutExecute();

        verify(processor, times(1)).dualCrnStationOutExecute();
    }

    @Test
    void stationOutExecuteFinish_attemptsClearPathBeforeCompletingTask() {
        StationOperateProcessUtils utils = newUtils();
        WrkMastService wrkMastService = mock(WrkMastService.class);
        BasStationService basStationService = mock(BasStationService.class);
        WrkAnalysisService wrkAnalysisService = mock(WrkAnalysisService.class);
        NotifyUtils notifyUtils = mock(NotifyUtils.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        StationThread stationThread = mock(StationThread.class);

        StationRegularDispatchProcessor processor = new StationRegularDispatchProcessor();
        ReflectionTestUtils.setField(processor, "wrkMastService", wrkMastService);
        ReflectionTestUtils.setField(processor, "basStationService", basStationService);
        ReflectionTestUtils.setField(processor, "wrkAnalysisService", wrkAnalysisService);
        ReflectionTestUtils.setField(processor, "notifyUtils", notifyUtils);
        ReflectionTestUtils.setField(processor, "redisUtil", redisUtil);
        ReflectionTestUtils.setField(processor, "stationMoveCoordinator", coordinator);
        ReflectionTestUtils.setField(utils, "stationRegularDispatchProcessor", processor);

        WrkMast wrkMast = buildWrkMast(10335, 145);
        wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
        when(wrkMastService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(wrkMast));
        when(wrkMastService.updateById(wrkMast)).thenReturn(true);

        BasStation basStation = new BasStation();
        basStation.setStationId(145);
        basStation.setDeviceNo(1);
        when(basStationService.getOne(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(basStation);

        StationProtocol stationProtocol = buildStationProtocol(145, 10335, 145);
        when(stationThread.getStatusMap()).thenReturn(Map.of(145, stationProtocol));
        when(stationThread.clearPath(10335)).thenReturn(true);

        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.stationOutExecuteFinish();

            verify(stationThread, times(1)).clearPath(10335);
            verify(coordinator, times(1)).finishSession(10335);
            verify(wrkMastService, times(1)).updateById(wrkMast);
            assertEquals(WrkStsType.STATION_RUN_COMPLETE.sts, wrkMast.getWrkSts());
        } finally {
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    @Test
    void watchCircleStation_usesSessionArrivalStateWhenLegacyCommandMissing() {
        StationOperateProcessUtils utils = newUtils();
        BasDevpService basDevpService = mock(BasDevpService.class);
        WrkMastService wrkMastService = mock(WrkMastService.class);
        StationMoveCoordinator coordinator = mock(StationMoveCoordinator.class);
        RedisUtil redisUtil = mock(RedisUtil.class);
        StationThread stationThread = mock(StationThread.class);
        stubTaskDispatchLock(coordinator);

        stash(utils, "basDevpService", basDevpService);
        ReflectionTestUtils.setField(utils, "wrkMastService", wrkMastService);
        stash(utils, "stationMoveCoordinator", coordinator);
        stash(utils, "redisUtil", redisUtil);
        wireOutboundSupport(utils);
        wireRerouteProcessor(utils);

        BasDevp basDevp = buildBasDevp(1);
        when(basDevpService.list(any(com.baomidou.mybatisplus.core.conditions.Wrapper.class)))
                .thenReturn(Collections.singletonList(basDevp));

        StationProtocol stationProtocol = buildStationProtocol(145, 10337, 148);
        stationProtocol.setAutoing(true);
        stationProtocol.setLoading(true);
        when(stationThread.getStatus()).thenReturn(Collections.singletonList(stationProtocol));

        StationCommand command = new StationCommand();
        command.setTaskNo(10337);
        command.setStationId(145);
        command.setTargetStaNo(111);
        when(stationThread.getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d)))
                .thenReturn(command);

        WrkMast wrkMast = buildWrkMast(10337, 111);
        wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
        wrkMast.setIoType(WrkIoType.OUT.id);
        when(wrkMastService.selectByWorkNo(10337)).thenReturn(wrkMast);

        StationMoveSession session = new StationMoveSession();
        session.setTaskNo(10337);
        session.setStatus(StationMoveSession.STATUS_RUNNING);
        session.setDispatchMode(StationMoveDispatchMode.CIRCLE);
        session.setCurrentStationId(145);
        session.setDispatchStationId(145);
        session.setNextDecisionStationId(145);
        session.setFullPathStationIds(List.of(145, 148, 149, 151, 119, 118, 117, 115, 114, 111));
        when(coordinator.loadSession(10337)).thenReturn(session);
        when(redisUtil.get(anyString())).thenReturn(null);

        MessageQueue.init(SlaveType.Devp, 1);
        SlaveConnection.put(SlaveType.Devp, 1, stationThread);
        try {
            utils.watchCircleStation();

            verify(stationThread, times(1)).getCommand(eq(com.zy.core.enums.StationCommandType.MOVE), eq(10337), eq(145), eq(111), eq(0), eq(0.0d));
        } finally {
            MessageQueue.clear(SlaveType.Devp, 1);
            SlaveConnection.remove(SlaveType.Devp, 1);
        }
    }

    private static BasDevp buildBasDevp(int devpNo) {
        BasDevp basDevp = new BasDevp();
        basDevp.setDevpNo(devpNo);
        return basDevp;
    }

    private static WrkMast buildWrkMast(int wrkNo, int targetStationId) {
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(wrkNo);
        wrkMast.setStaNo(targetStationId);
        return wrkMast;
    }

    private static StationProtocol buildStationProtocol(int stationId,
                                                        int taskNo,
                                                        int targetStationId) {
        return buildStationProtocol(stationId, taskNo, targetStationId, Collections.emptyList());
    }

    private static StationProtocol buildStationProtocol(int stationId,
                                                        int taskNo,
                                                        int targetStationId,
                                                        List<StationTaskBufferItem> taskBufferItems) {
        StationProtocol stationProtocol = new StationProtocol();
        stationProtocol.setStationId(stationId);
        stationProtocol.setTaskNo(taskNo);
        stationProtocol.setTargetStaNo(targetStationId);
        stationProtocol.setTaskBufferItems(taskBufferItems);
        return stationProtocol;
    }
}